Abstract

In this paper, a 3-DOF 3-PRUR parallel mechanism (PM) is chosen for performance analysis and optimal design. First, the mobility of the PM is analyzed by using screw theory. Then, the kinematics of this PM is studied based on the geometrical characteristics and the Jacobian matrix is derived. Furthermore, we research some performance indices with respect to the Jacobian matrix over the whole workspace and nondimensional parameters when the input is given, and their performance atlases are obtained with different inputs. Finally, the optimal design of the PM is determined according to the performance atlases, and some examples are presented.

Atlases of the global stiffness index. (a) Atlas of ζDmin with the inputs −0.2⩽l11,l22,l33⩽0.2. (b) Atlas of ζDmin with the inputs −0.6⩽l11,l22,l33⩽0.6. (c) Atlas of ζDmax with the inputs −0.2⩽l11,l22,l33⩽0.2. (d) Atlas of ζDmax with the inputs −0.6⩽l11,l22,l33⩽0.6.

Atlases of the GVI. (a) Atlas of ζVmin with the inputs −0.2⩽l11,l22,l33⩽0.2. (b) Atlas of ζVmin with the inputs −0.6⩽l11,l22,l33⩽0.6. (c) Atlas of ζVmax with the inputs −0.2⩽l11,l22,l33⩽0.2. (d) Atlas of ζVmax with the inputs −0.6⩽l11,l22,l33⩽0.6.

Atlases of the GPI. (a) Atlas of ζFmin with the inputs −0.2⩽l11,l22,l33⩽0.2. (b) Atlas of ζFmin with the inputs −0.6⩽l11,l22,l33⩽0.6. (c) Atlas of ζFmax with the inputs −0.2⩽l11,l22,l33⩽0.2. (d) Atlas of ζFmax with the inputs −0.6⩽l11,l22,l33⩽0.6.

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